AV6A - Nidec-Avtron€¦ · Nidec-Avtron Makes the Most Reliable Encoders in the World Encoder Instructions MODEL AV6A SOLID SHAFT DESCRIPTION The Avtron Model AV6A is a light mill

AV6A 1

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Nidec-Avtron Makes the Most Reliable Encoders in the World

Encoder Instructions

MODEL AV6A

SOLID SHAFT

DESCRIPTIONThe Avtron Model AV6A is a light mill duty absolute encoder. It expresses the position of rotation as an output message or value. AV6A can measure a single turn of rotation or multiple rotations. The AV6A measures the shaft rotation and position without the need for external power or internal batteries or capacitors through its multi-turn gear system. The AV6A operates down to zero speed and can be used for both control and instrumentation applications.

CAUTION Do not utilize AV6A in hazardous locations which require ATEX, UL, CUL, CSA, or other explosion protection certification. AV6A is not certified for hazardous locations.

The AV6A is designed for mounting on flanges (58mm, 36mm, 1.25”), or on a foot mount bracket for coupling. The AV6A is not recommended for pulley or chain drive applications.

SAFETYThe AV6A is not considered as a safety device and is not suitable for connection into a safety system.

WARNING Installation should be performed only by qualified personnel. Safety precautions must be taken to ensure machinery cannot rotate and all sources of power are removed during installation.

INSTALLATION Refer to the back page of these instructions for outline and mounting dimensions. Equipment needed for installation Supplied: AV6A Encoder Optional: (none)

Not Supplied: Open Wrenches, Hex Wrenches, Dial Indicator Gauge Caliper Gauge, Coupling, Foot Mount and Mounting Screws

AV6A PART NUMBERS AND AVAILABLE OPTIONS

Model Bus Flange Shaft Size Turns/ bits

PPR/bits per turn Connector Connector

Exit Output IP Rating

Special Option

AV6A C- CANOpenD- DeviceNetF- CANSafeK- POWERLINKL- ParallelM- ModbusTCP EthernetN- Profinet IOP- Profibus DPR- Ethernet/IPS- SSI

1- 58mm “servo/ clamp” flange, 36mm male pilot, 3X M3, 3X M4 at 48mm

2- 58mm “synchro” flange, 50mm male pilot, 3X M4 at 42mm4- 2.5” square flange w/1.25” male pilot

B- 3/8” dia. x 5/8” w/flatC- 10mm dia. x 20mm w/flatT- 6mm dia., x 10mm, no flat

X- 0/0- single turnA- 16/4**D- 128/7**E- 256/8**2- 4096/124- 16384/14

E- 256/8**F- 512/9**0- 1024/10**2- 4096/123- 8192/134- 16384/146- 65536/16

A- 1xM12/5 pinB- 2xM12/5 pinC- 3xM12 4/4/5 or 4/4/4 pinsD- 2xM12/4/5 pinE- M12/8 pinF- M23/12 pinG- M27/26pinJ- 2x cable entryK- 3x cable entryM- M23/8pin HengstlerN- M23/8pin StegmannQ- M23/8pin KublerW- Cable, 1m

A- side/radialE- end/axial

1- Binary2- Gray

X- None, IP54+

A- IP66 shaft sealsS- IP66 seals, stainless housing

000- none9xx- special cable length xx=length *0.3m

FLANGE COMPATIBILITYFlange Shaft IP/Sealing1 C X+, A, S2 C, T X+, A, S4 B X+, A+X - no seal option not recommended

STANDARD CONNECTORS & OUTPUT FORMATSBus Code Connectors OutputCANOpen C A, B, C, J, K, W 1DeviceNet D A, W 1CANSafe F K 1POWERLINK K C 1Parallel L G, W 1, 2ModbusTCP M D 1Profinet N C 1Profibus DP P C, J, K 1EtherNet/IP R C 1SSI S E, F, W 1, 2

**Parallel Bus Only

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The encoder must be driven by a positive drive rather than a friction drive. The following means of coupling are acceptable when properly installed: Direct Coupling.

With a direct drive, use a flexible disc coupling and align the shafts as accurately as possible. For motors with a pre-aligned flange, it is also acceptable to use a “spider” or “jaw” coupling type. If a rubber slinger disc is used, position it on the shaft so it will rotate freely.

The AV6A performance and life will be directly affected by the installation. Following this sequence of steps is recommended.

1) Clean and inspect motor/driver shaft. Do not use force to assemble coupling onto motor/driver shaft. Any mounting bracket must be secured to a flat, rigid, vibration free steel or aluminum base which can be machined to accept the mounting hardware.2a) For Foot Mounting: Temporarily mount the AV6A to the foot bracket, install the coupling to the AV6A and driver, and verify that the location is suitable for installation.2b) For Flange Mounting: Temporarily mount the AV6A to the flange

bracket, install the coupling to the AV6A and driver, and verify that the location is suitable for installation.

3a) If the encoder, bracket and coupling are suited to the area, check motor/encoder shaft alignment with a straight edge from multiple positions around the shaft circumference to verify that it meets specifications.3b) If the encoder, bracket and coupling are suited to the area, check motor/encoder shaft alignment with a straight edge from multiple positions around the shaft circumference to verify that it meets specifications.4a) While maintaining alignment, precisely mark the position of the foot bracket on its mounting base.4b) If the shaft angular alignment is not acceptable, loosen the

mounting screws to the flange and apply thin metal shims to the face of the encoder and retest the angular alignment until acceptable.

5a) Remove the AV6A. Transfer punch or layout the mounting hole pattern as indicated on outline drawing.5b) If the shafts are parallel, but misaligned (parallel misalignment),

the flange will need to be re-machined. Shimming will NOT correct parallel misalignment, and will lead to premature bearing wear or coupling breakage. (After correcting alignment, proceed to step 8)

6a) Machine through holes or tap holes in center of base slots to give some degree of freedom in final alignment.7a) Reinstall the AV6A with the flexible coupling loosely in place, and tighten down all mounting hardware. Check motor/encoder shaft alignment with a straight edge from multiple positions around the shaft circumference to verify that it meets specifications. Use thread locker on cap screws which mount AV6A to foot bracket. Proceed to step 8.8) Ensure any flat or keyway on the motor and encoder shaft are aligned with the set screw holes of the flexible coupling. Apply thread locker to coupling set screws and tighten per manufacturer’s recommendations.9) Recheck alignment and tighten all hardware after first several hours of operation.

ENVIRONMENTAL CONSIDERATIONSFollow these steps to reduce potential problems:1) Always mount connection points, conduit couplings, junction boxes, etc., lower than actual encoder.2) For washdown areas, shroud or otherwise cover the encoder to prevent direct water spray. Do not attach the shroud directly to the encoder.

REPAIRS

REMOVAL INSTRUCTIONS:1. Unfasten coupling.2. Remove the screws which secure the encoder to the flange or

foot mount. Note that the foot mount can remain in place.3. Slide the encoder free of the mount. REPLACING PARTS The AV6A has no user-replaceable parts. CAUTION Do not attempt to remove, service, or adjust any of the internal components of the AV6A.

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WIRING INSTRUCTIONS CAUTION Remove power before wiring. Interconnecting cables specified in the wire selection chart are based on typical applications. Refer to the system drawing for specific cable requirements where applicable.

Physical properties of cable such as abrasion, temperature, tensile strength, solvents, etc., are dictated by the specific application and communications bus. Do not use unshielded cable. Ground one end (only) of the shield to earth ground.

Do not run encoder wiring parallel to power cable wiring for extended distances, and do not wrap encoder cable around power cables.

TROUBLESHOOTING:If the controller indicates a loss of encoder fault, check the encoder power supply at the encoder. If power is present at the encoder, check polarity. If the wiring appears correct and in good shape, test the wiring by replacing the AV6M. If the controller still shows encoder loss/fault, then the wiring is faulty and should be repaired or replaced.

An oscilloscope can also be used to verify output of the HS6A encoder at the encoder connector itself and at the drive/ controller cabinet. Depending on the communication method, signals will vary but the oscilliscope should show the output signals varying. Keep in mind that SSI and Profibus DP are master-slave systems and require the controller to signal the encoder to transmit position.

Read each section for specifics about each bus and troubleshooting tips.

SSI TROUBLESHOOTINGFor SSI, monitor the clock input line to ensure the controller is triggering the encoder to send position. The clock should obey the signal requirements shown in the SSI signal section, and should appear as a rapid set of transitions on the clock line. The encoder data transmit lines should change state as data is clocked out. Note that the varying binary patterns representating position can produce pulses of varying width--this is normal.

PROFIBUS-DP TROUBLESHOOTINGViewing on oscilliscope: for Profibus DP, the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

For Profibus DP, ensure termination resistors are in place (or switched on) at each end of the cabling system, and that no termination resistors are in placed or activated in the middle of the system. Remove the connections to the master controller and all devices, or power down all devices. Measure the resistance between the communication wires. The value should be ~1/2 of the termination resistor value on the network. If the resistance is greater than the limit, a termination resistor is missing from the network. If the resistance is less than the limit, there are incorrect termination resistors switched on or connected to the system.

CANOPEN TROUBLESHOOTINGFor CANOpen: disconnect the power connection, then ensure there are no short circuits between any of the signal or power wires or shield.

Viewing on oscilliscope: for CANOpen the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

For CANOpen, ensure termination resistors are in place (or switched on) at each end of the cabling system, and that no termination resistors are in placed or activated in the middle of the system. Remove the connections to the master controller and all devices, or power down all devices. Measure the resistance between the communication wires [Example CANOpen-measure between CAN_L and CAN_H]. The value should be ~1/2 of the termination resistor value on the network. For CANOpen, this value should be >50 ohms, <65 ohms. If the resistance is greater than the limit, a termination resistor is missing from the network. If the resistance is less than the limit, there are incorrect termination resistors switched on or connected to the system.

Flange Option “6” includes a two-color diagnostic LED. Red indicates an error, Green indicates run status. During normal operation, the encoder LED should be continously green. Flash patterns indicate activity as follows: RED - ErrorFlickering - (Autobitrate/LSS services are in process)Blinking - Configuration error1) Flash - CAN bus frame error2) Flashes - CAN guard timing or heartbeat error3) Flashes - Sync message timeout4) Flashes - PDO message timeoutON - CAN Controller is in bus off state

GREEN - RunFlickering - (Autobitrate/LSS services are in process)Blinking - Encoder is in preoperational mode1) Flash - Encoder is in stopped mode3) Flashes - Software download in progressON - Encoder is operating normally with no errors

Nidec-Avtron recommends the use of a simple no-cost debugging tool such as PCAN View.

Ensure the device is set to the proper baud rate (connection cap, or for units with no connection cap, via software)

Ensure the device is set to the proper node address (connection cap or for units with no connection cap, via software)

The encoder will power-up in the pre-operational mode.The message it will issue is:

ID: 0x07nn 0x00

If you cannot see this message, try power cycling the device.

Note that CANOpen units with a hardware connection cap are typically set to 20K default baud rate. Not all master devices support 20K, so the power-up message may not be displayed. Check the baud rate and node address on the connection cap.

ANALOG TROUBLESHOOTINGFor analog output, a multimeter can be used to measure the output signal. Disconnect the encoder outputs (but maintain the power connection) to ensure no interference from field wiring and measure the output voltage or current directly at the encoder depending on the output style selected. Rotating the shaft should produce a change in output value.

For analog output: If the output is within the expected range but does not seem to change, the analog value may have been accidently scaled to a tiny fraction of a revolution or such a huge number of turns that the output change cannot be detected.

Connect both Set End Point 1 and Set End Point 2 to +Vs for 1 1 second or more, then connect them to ground or no connection. The encoder will be reset to use the full scale factory default with the output and position set to the mid-point of the full scale. Now monitor output voltage or current while rotating. You should observe a voltage or current change. Now follow the instructions in the analog section to properly reset the analog minimum and maximum values.

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ELECTRICAL SPECIFICATIONSA. Operating Power (Vin = +Vs) 1. Voltage & Current .............. SSI ....................................4.5-30VDC; 300mA @ 5V, 65mA @24V Parallel ..............................10-30VDC; 400mA @ 10V, 180mA @24V all other busses .................10-30VDC; 230mA @ 10V, 100mA @24V 2. Total Current ......................as above plus cable load

B. Output Format 1. SSI: ...................................100kHz-2mHz, set by master clock speed 2. CANOpen/CANSafe ............20kBaud to 1mBaud, node 0-127 .........................................Default 20k, node 01 (0x01) 3. J1939 ................................250kBaud to 500kBaud, node 0-127 .........................................Default 250k, node 01 (0x01) 4. DeviceNet ..........................125kHz-500kHz, MAC-ID 0-63 ......................................... w/connection cap: Default 20k, node 01 (0x01) 5. Profibus DP ........................9.6kHz-2MHz, Address 0-99 ......................................... Default Auto-baud detect, node 01 (1FH) 6. PowerLink .........................10/100MHz, IP Address 0-239 ......................................... Default Auto-baud detect, node 192.168.0.165 7. Parallel ..............................Bit-parallel, cycle time 150uSec, .........................................max update rate 4.5kHz (X10 w/o preset input)

C. Direction Counting ..................Default up for CCW rotation as viewed .........................................from the back of the encoder D. Counts Per Turn ......................4096 - 65536 (12 - 16 bits)E. Maximum Turns ......................4096 - 16384 (12 or 14 bits)

F. Line Driver Specs: ..................See table

G. Connectors: ............................See connector options on page 1

H. Accuracy: ...............................+/-0.04 deg (+/-2.6 arc-min) - 12 bit units .........................................+/-0.02 deg (+/-1.3 arc-min) - 16 bit units

MECHANICALA. Shaft Inertia............................0.00003lb-in-sec2 [30 g-cm2 (dyn)] B. Acceleration ...........................6000 RPM/Sec. Max. C. Speed:....................................6000 RPM Max (std seals) .........................................12000 RPM Max. w/o seals, not recommended D. Weight:...................................1.2-2.7 lbs [550-1200g] E. Vibration .................................10 Gs, 10-1000 Hz, any orientation F. Shock .....................................100 Gs 6mSec, any orientation

ENVIRONMENTAL

Solid cast aluminum housing Solid stainless steel housing optionalOperating Temperature:...............-40°C to +85°CFinish.......................................... Powder Coat Resists mild acids, bases, salt water & hydrocarbons

Electrical Specifications CANOpen DeviceNet J1939 Parallel Profibus SSI Units

Input Voltage 10-30V 10-30V 10-30V 10-30V 5-30V 10-30V VDC

Cable Drive Capacity 8200’[2500m]***

1650’[500m]**

800’+++ [250m]

150’++[50m]

4000’****[1200m]

4000’ [1200m]* feet

Protection

Reverse Voltage yes yes yes yes yes yes

Short Circuit yes yes yes yes yes yes

Transient yes yes yes yes yes yes

* @100kbaud w/24 AWG, 52.5 pF/meter (16 pF/foot)**Using main cable (round, large diameter)***@20kbaud****@9.6kbaud++@12VDC, max 20mA/output +++@250kbaud

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CANOpen Protocol “C”

The CANOpen protocol provides a set of data bits inside a CANOpen message that represent the encoder position (in turns and within 1 turn).

CANOpen may be wired in several different configurations, but the most common is a “Trunk and Drop Line” configuration. The trunk message cable must be terminated at each end with 120 ohm resistors. Note that CANOpen also offers the option to carry device power to each encoder through an additional cable pair of wires.

Avtron CANOpen encoders with connection caps offer the ability to act as a “T” coupling in the bus system. This means that the encoders can effectively be installed in a daisy-chain configuration, with each encoder wired to the next. The first encoder is typically wired to the master/scanner device located at one end of the bus, but the master/scanner device can be located anywhere on the bus system.

Preferred cable: Twisted pair with individual pair and overall shields. Communication pair: 24 AWG, copper conductor, capacitance of 50 pF/meter (15 pF/foot) terminated in a 120 Ohm resistive load. Power pair: 22AWG copper conductor, 17ohms/1000 ft [55 ohms/km]. Note that resistive losses in long cables may decrease actual voltage (+Vs) available at the encoder; larger conductors can be used or the encoder can be powered locally and signal GND brought through the cable. Maximum transmission speed is limited by cable length and number of devices as shown in the figures below.

For more details on CANOpen, consult the CiA, CANOpen in Automation:

www.can-cia.org

Setting Node Number, Baud Rate & Termination Resistor

NOTE: Units with hardware connection caps cannot accept software-commanded address, baud rate or termination resistor changes. These must be made using the switches in the connection cap. Before commencing any changes, check for a connection cap. It is secured to the rear of the encoder with 2 or 3 screws and due to snug fit will require a strong pull to remove it after removing the screws.

NOTE: Any changes to baud rate, node number, or resistor will not take effect until the encoder is reset (typically power cycled).

Power-Up Sequence

The encoder will power-up in the pre-operational mode.The message it will issue is:

ID: 0x07nn 0x00nn=node number, typically: 0x01 for units with connection cap including hardware node and baud rate selection. (software commands will not change node) 0x20 is the factory default for units with software-selectable addressing. (software commands can change node number)

Setting Node Number:To set the node number on units with a connection cap: Set the address using the two rotating switches. The node number can be between 0-89. The node address = X10 switch * 10 + X1 + 1 switch value. (The encoder internally adds 1 to the switch value total). Special addresses are shown below:

Address Function

97 Recovery C2-C5

98 Protocol DS301-V3

99 Protocol DS301-V4

To set the node number on units without a connection cap: write SDO object 0x3000 using command 0x22. The encoder internally adds 1 to the written value.

Example, encoder at node 20, change node address to 02:

ID: 0x620 0x22 0x00 0x30 0x00 0x01 0x00 0x00 0x00

Setting Baud Rate:To set the baud rate on units with a connection cap: Set the baud rate using the rotating switch marked Bd per the table below.

To set the baud rate on units without a connection cap: write the baud code per the table below to SDO object 0x3001.Example, encoder at node 20, change baud rate to 125K = 0x03ID: 0x620 0x22 0x01 0x30 0x00 0x03 0x00 0x00

Network Baud Rate

LSS 1M 500K 250K 125K 50K 20K

Baud Code or Switch Setting

09h 07h 05h 04h 03h 01h 00h

Enabling Termination Resistor:To enable the termination resistor in units with a connection cap: Turn switch Rt to “On”.

To enable the termination resistor in units without a connection cap: write 01 to SDO object 3002h. Ensure any devices on the bus power up at least 700mS after the encoder with the termination resistor activated.

Network Baud Rate

1M 500K 250K 125K 50K 20K Units

Max. Length

65[20]

325[100]

800[250]

1600[500]

3250[1000]

8200[2500]

ft [m]

Max. Single Tap Length

1[0.3]

15[5]

15[5]

15[5]

200[60]

500[150]

ft[m]

Max. Total Tap Length

5[1.5]

100[30]

200[60]

400[120]

1000 [300]

2500[750]

ft [m]

Min. Tap to Tap Length

-[-]

20[6]

20[6]

20[6]

240[72]

600[180]

ft [m]

Number of Nodes

2 16 32 64 Units

Max. Overall Cable Length

750[229]

690[210]

640[190]

560[170]

ft [m]

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Note that only devices at each end of the bus should have termination resistors enabled--if the master/scanner is at one of the bus, then only one encoder (at the opposite bus end) will require a termination resistor.

Saving Changes (Required):

To save baud rate/node/resistor changes, write 0x55 0xAA 0xAA 0x55 to SDO object 0x2300Example, encoder at node 20, store changesID: 0x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55

Cycle power after saving changes.

Measuring Position, Speed, and Acceleration

To read position and speed feedback into your device (Acceleration measurement is not supported.): Following the instructions for your master/scanner module for the CANOpen network, load the encoder EDS file into your configuration. Assign it to the correct node number. Store the configuration to the scanner module. All of the position data and other parameters will be read by the scanner module and placed in registers identified in the configuration package.

Reading data without using the EDS file:To read position: read SDO object 0x2000 (32 bit unsigned) or SDO object 0x6004.

Speed measurement is deactivated by default. To enable speed measurement: write 0x01 to SDO object 0x3010, subindex 1, and write the speed modulus to subindex 2.

To read the speed after activation: read SDO object 0x3011 (8 bit unsigned) or SDO object 0x6030.

Acceleration measurement is not supported. SDO object 0x3021 and 0x6040h are reserved for future use but do not indicate acceleration at this time.

Setting Polling, Cyclic and Sync ModePolling, cycling and sync mode are supported by the encoder; use the parameters supplied in the EDS file to set the appropriate mode. Store the resulting configuration into the scanner module.

Storing/Saving Encoder ParametersTo store the current encoder operating parameters into non-volatile memory:

Write 0x55 0xAA 0xAA 0x55 to SDO object 0x2300Example, encoder at node 20, store changesID: 0x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55 No reset is triggered.

Cycle power after saving changes to parameters.

Other Parameters

Contact Nidec Avtron for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features.

CANOPEN TROUBLESHOOTINGFor CANOpen: disconnect the power connection, then ensure there are no short circuits between any of the signal or power wires or shield.Viewing on oscilliscope: for CANOpen the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

For CANOpen, ensure termination resistors are in place (or switched on) at each end of the cabling system, and that no termination

resistors are in placed or activated in the middle of the system. Remove the connections to the master controller and all devices, or power down all devices. Measure the resistance between the communication wires [Example CANOpen-measure between CAN_L and CAN_H]. The value should be ~1/2 of the termination resistor value on the network. For CANOpen, this value should be >50 ohms, <65 ohms. If the resistance is greater than the limit, a termination resistor is missing from the network. If the resistance is less than the limit, there are incorrect termination resistors switched on or connected to the system.

CANOpen Diagnostic LEDs

LED Status Meaning

RunERR

Green Off

Power OK, Operational, CAN Controller on

Run ERR

Flickering Green Flickering Red

LSS or auto-baud detection active

Run Blinking Green Encoder in preoperational state

1X Flash Green Encoder is stopped

3X Flash Green Software download in progress

Off No Power

ERR Blinking Red Configuration error

1X Flash Red CAN Error frames

2X Flash Red Guard event or heartbeat error

3X Flash Red Sync message timeout

4X Flash Red PDO timeout

On (Red) CAN controller off

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DeviceNet Protocol “D”

The DeviceNet protocol provides a set of data bits inside a DeviceNet message that represent the encoder position (in turns and within 1 turn).

DeviceNet may be wired in several different configurations, but the most common is a “Trunk and Drop Line” configuration. The trunk message cable must be terminated at each end with 120 ohm resistors. Note that DeviceNet also offers the option to carry device power to each encoder through an additional cable pair of wires.

Preferred cable: Nidec Avtron recommends structured DeviceNet wiring systems, available from a broad range of vendors. Large diameter main, small diameter round cable, as well as flat cabling systems are all acceptable.

For more details on DeviceNet, consult the Open DeviceNet Vendor’s Association (ODVA):

www.odva.org

Network Baud Rate

500K 250K 125K Units

Max. Length*

325[100]

800[250]

1600[500]

ft [m]

Max. Single Tap Length

15[5]

15[5]

15[5]

ft[m]

Max. Total Tap Length

100[30]

200[60]

400[120]

ft [m]

Min. Tap to Tap Length

20[6]

20[6]

20[6]

ft [m]

*Using thick cable

Number of Nodes

2 16 32 64 Units

Max. Overall Cable Length*

750[229]

690[210]

640[190]

560[170]

ft [m]

*Using thick cable

Setting Node (MAC-ID), Baud Rate & Termination Resistor

NOTE: Units with hardware connection caps cannot accept software-commanded address, baud rate or termination resistor changes. These must be made using the switches in the connection cap. Before commencing any changes, check for a connection cap. It is secured to the rear of the encoder with 2 or 3 screws and due to snug fit will require a strong pull to remove it after removing the screws.

NOTE: Any changes to baud rate, node number, or resistor will not take effect until the encoder is reset (typically power cycled)--be sure to store parameters in EEPROM.

NOTE: Baud rate, termination resistor and a values are not stored permanently until they are written to EEPROM. If power is cycled before the values are stored, the encoder will default to the values previously stored in EEPROM.

Setting Node Number:To set the node number on units with a connection cap: Set the address using the two rotating switches. The node number can be between 0-63. The node address = X10 switch * 10 + X1 switch value.

To set the node MAC-ID number on units without a connection cap: write attribute 6Fh (byte). [(master MAC-ID) 0x10 0x23 0x01 0x6F (node)]. The encoder will reply [0x0A 0x90].

Setting Baud Rate:To set the baud rate on units with a connection cap: Set the baud rate using the rotating switch marked Bd per the table below.

To set the baud rate: write the baud code to attribute 6Eh (byte). [(master MAC-ID) 0x10 0x23 0x01 0x6E (baud code)]. The encoder will reply [0x0A 0x90].

Network Baud Rate

500K 250K 125K

Baud Code/ Switch Setting

0x02 0x01 0x00

Enabling Termination Resistor:To enable the termination resistor in units with a connection cap: Turn switch Rt to “On”.

To enable the termination resistor: write 01 to attribute 67h. Ensure any devices on the bus power up at least 700mS after the encoder with the termination resistor activated.

Note that only devices at each end of the bus should have termination resistors enabled--if the master/scanner is at one of the bus, then only one encoder (at the opposite bus end) will require a termination resistor.


Only position feedback is supported in DeviceNet; acceleration and speed are not directly supported at this time.

To read position feedback into your device: Following the instructions for your master/scanner module for the DeviceNet network, load the encoder EDS file into your configuration. Assign it to the correct MAC-ID node number. Store the configuration to the scanner module.

All of the position data and other parameters will be read by the scanner module and placed in registers identified in the configuration package.

Setting Polling, Cyclic and Sync Mode

Polling, cycling and sync mode are supported by the encoder; use the parameters supplied in the EDS file to set the appropriate mode.

AV6A 8

Store the resulting configuration into the scanner module.

Storing/Saving Encoder Parameters to EEPROM

To store the current encoder operating parameters into non-volatile memory:

Send message [(master MAC-ID) 0x32 0x23 0x01]. A new allocation is then required to resume receiving position values from the encoder.

Other Parameters

Contact Nidec-Avtron or review the EDS file for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features.

DEVICENET TROUBLESHOOTINGFor DeviceNet: disconnect the power connection, then ensure there are no short circuits between any of the signal or power wires or shield.

Viewing on oscilliscope: for DeviceNet the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

For DeviceNet, ensure termination resistors are in place (or switched on) at each end of the cabling system, and that no termination resistors are in placed or activated in the middle of the system. Remove the connections to the master controller and all devices, or power down all devices. Measure the resistance between the communication wires [Example DeviceNet-measure between CAN_L and CAN_H]. The value should be ~1/2 of the termination resistor value on the network. For DeviceNet, this value should be >50 ohms, <65 ohms. If the resistance is greater than the limit, a termination resistor is missing from the network. If the resistance is less than the limit, there are incorrect termination resistors switched on or connected to the system.

DeviceNet Diagnostic LEDs

LED Status Meaning

MS Green Power OK, Status OK

Flash Green Then Flash Red

LED test at Power-Up

1X Flash Green Encoder Configuration Missing or Incorrect. Encoder in Standby Mode.

1X Flash Red Recoverable Network Fault

Red Encoder Malfunction

Off No Power

NS Green Status OK, Connected

Red Link Failure (Duplicate MAC or Bus Off)

Flash Green Then Flash Red

LED test at Power-Up. If Not at Power-Up, Network Access Error

1X Flash Green Encoder online (passed Dup_MAC_ID) test, but no connection to other devices

1X Flash Red Communications timeout

Off Encoder Offline, has not passed Dup_MAC_ID

AV6A 9

Ethernet POWERLINK “K”

POWERLINK Ethernet is typically a master-slave network-the master/scanner device gathers data from each (slave) device on the bus. Avtron encoders are POWERLINK slave devices.

POWERLINK Ethernet may be wired in several different configurations, but the best known is a “star” configuration where each device has a “home-run” network cable that connects to a central switch or hub.

To reduce the cabling requirements, Avtron encoders support “Daisy-Chain” configurations. The master device must be at one end of the bus. The signal is repeated by each encoder to it’s output port (labelled “Hub”), which can in turn be connected to an input port of another encoder. No external or switched termination resistors are required for POWERLINK Ethernet. Power is carried to the device via a separate set of wires. A maximum of (7) encoders can be daisy-chained together to a single Ethernet master/scanner or switch port.

Preferred cable: Nidec Avtron recommends structured Ethernet wiring systems, available from a broad range of vendors as well as Avtron.

For more details on POWERLINK, consult the POWERLINK Standardization Group:

http://www.ethernet-POWERLINK.org

Number of Nodes 1-7 Units


330 [100]

ft [m]

*Using Ethernet standard cable, CAT6 or CAT5e required

NOTE: UNLIKE OTHER AVTRON ABSOLUTE ENCODERS, DO NOT REMOVE THE CONNECTION CAP TO SET THE ADDRESS.

Setting Station/Node, Baud Rate

To set the node number: use the rotating switches on the back of the connection cap. The format is hexidecimal, from 0x00 to 0xEF (0-239 decimal). The left-most switch is the sixteen’s switch and the right switch is the one’s). Example: Left-most switch (16s set to 1, right most switch set to A. Address = 0x1A = 1*16 + 10 *1 = 26 decimal

Setting the node number also sets the IP address.Avtron POWERLINK encoders are located at 192.168.100.NodeFor the example above, the IP address would be 192.168.100.26

The address may also be set via software using EPL telegrams. Set the rotating switches to 0, 0 to enable software addressing.

POWERLINK baud rate is auto-detected by the encoder, no settings are required. 100mBit and 10mBit are supported, Gigabit Ethernet is not supported at the encoder level but may be utilized at the switch backbone level.


To read position into your device (acceleration and speed measurement is not supported.): Following the instructions for your master/scanner module for the POWERLINK network, load the encoder XDD file into your configuration. Assign it to the correct node number. Store the configuration to the scanner module. All of the position data and other parameters will be read by the scanner module and placed in registers identified in the configuration package.

For multiturn & single turn encoders: position data provided as

4 bytes, 32 bits: Format is little-endian (lowest bit = right-most bit). Single-turn data/data within 1 turn is provided in the least-significant bits. Multiturn data is provided directly “above” the single turn data, bitwise. Example: 12 turns x 13 bits/turn encoder, lowest 13 bits = position within one turn, next 12 bits (up to bit 25) represent turns position data.

The position data is provided at parameter 0x6004.

Setting Zero Position for Multiturn Encoders and Single turn Encoders:Using XDD file permits setting of the Preset Value 0x6003 object which will load a value in at powerup of the master system. However, if the machine is not at the home/preset position at master power-up, the system will nonetheless load the Initial Value into the encoder. This can cause a position error.

Setting Direction of Rotation for Count Up/Down:Object 0x6000, least significant bit (0) can be set to change operation: bit 0 = 0, Counterclockwise rotation = count upbit 0 = 1, Clockwise rotation = count up(rotation as viewed from the back of the encoder)

Scaling Counts:To use scaling, set bit 2 in object 0x6000 = 1, default value = 00x6001 supports scaling of user units per revolution, default value 0x20000x6002 enables setting of the total measuring range in user units default value 0x1000

Multiplexed ModeMultiplexed mode is supported by Avtron encoders. Multiplexing slows the data feed from each encoder to enable other data to pass more quickly to the master/scanner module.

For maximum encoder updates per second in mission critical applications, turn Multiplexed mode off using the master/scanner configuration software.

Other Parameters


POWERLINK TROUBLESHOOTINGViewing on oscilliscope: for POWERLINK/Ethernet, the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

A software “snoop” or “sniffer” program can also be used to packet-analyze the communication. However due the the extremely high speed of Ethernet communication, and the time-stamped nature of the information on POWERLINK, it may be necessary to use a hardware tool such as the B&R debugger/analyzer.

Ensure there are no more than (7) POWERLINK encoders connected via daisy-chain to a single connection to a switch or bus master device. Note this number is decreased for any hubs between the master/scanner device and the encoder daisy-chain. More than 7 daisy-chained hubs + encoders will violate the Ethernet hub repeater rule and cause Ethernet errors and highly inconsistent data loss.

If the position is changing as the encoder moves, but is reported incorrectly, the Initial Value parameter may have been loaded into the encoder at the wrong physical position of the machine. Drive the machine to the home/preset position, and cycle power to see if the position is correctly reloaded.

AV6A 10

POWERLINK Diagnostic LEDs

LED Status Meaning

LS/DA 1 ErrorStatus

Green OffGreen

Input connected to Ethernet, power OK, node address ok, no Ethernet errors, encoder operational

LS/DA 1 Status

Flashing Green

Active inbound communication

LS/DA 2Status

Green Output connected to next encoder

LS/DA 2 Flashing Green

Active communication to next encoder

Error Red Ethernet Error or invalid node address

Status 1 Flash Pre-Operational Mode 1

2 Flashes Pre-Operational Mode 2

3 Flashes Ready to operate

Blinking Stopped

AV6A 11

Parallel Outputs “L”

Parallel output encoders represent the encoder position within one turn, and the number of turns using output wires for each measurement bit.

Preferred cable: Nidec Avtron recommends structured cabling wiring systems including overall shielding, available from a broad range of vendors as well as Nidec-Avtron.

Number of Nodes 1 Units


150 [50]

ft [m]

*Note that maximum cabling length is a function of output resolution per turn * RPM, cable capacitance, and voltage. To increase cable length, decrease supply voltage or measurement resolution if possible.

NOTE: Standard Avtron absolute parallel encoders include preset/zero function. For maximum speed of response, request a special model with no reset/preset function. This increases the overall output response by 10X.


To read position into your device (acceleration and speed measurement is not supported.): Connect the power +V, 0V, and output wires to the measuring PLC or device.

For multiturn & single turn encoders: position data provided as little-endian (lowest bit = right-most bit). Single-turn data/data within 1 turn is provided in the least-significant bits. Multiturn data is provided directly “above” the single turn data, bitwise. Example: 8 bit turns x 12 bits/turn encoder, lowest 12 bits = position within one turn, next 8 bits (up to bit 20) represent turns position data.

Setting Zero Position for Multiturn Encoders and Single turn Encoders:NOTE: Do not attempt to use zero/preset function while the encoder is rotating. Doing so will produce unpredictable results.

To set zero position, raise the voltage level of the Preset input to +V (supply of the encoder) for at least 0.1sec. The encoder will set the outputs to zero.

Setting Direction of Rotation for Count Up/Down:Setting the Complement/Direction input will control the direction of counting:Comp/Dir = 0, Counterclockwise rotation = count upComp/Dir = 1, Clockwise rotation = count up(rotation as viewed from the back of the encoder)

Latching Counts:Avtron parallel-bit encoders enable a latch input to hold the output constant (typically for slower input systems to measure the output). Latch = 0, no latchingLatch = 1, latched within 3uS of rising edge

PARALLEL TROUBLESHOOTINGViewing on oscilliscope: The lowest significant bit can be monitored as the encoder is rotated. As long as the rotation speed is low enough where RPM/60 * counts/turn < maximum output frequency, the output frequency can be measured and compared to the expected RPM/60 * counts/turn. Example: 12bit/4096 count encoder, turn at 60 RPM = 60/60 * 4096 = 4096Hz.

A digital state analyzer can also be connected to monitor some or all of the encoder lines simultaneously.

If the position is changing as the encoder moves, but is reported incorrectly, the zero/preset line may have been activated at the wrong physical position of the machine. Drive the machine to the home/preset position, and cycle power to see if the position is correctly reloaded.

AV6A 12

Ethernet Modbus TCP “M”

Modbus TCP Ethernet is typically a master-slave network-the master/scanner device gathers data from each (slave) device on the bus. Avtron encoders are Modbus TCP slave devices.

Modbus TCP Ethernet may be wired in several different configurations, but the best known is a “star” configuration where each device has a “home-run” network cable that connects to a central switch or hub.

Unlike other Avtron Ethernet encoders, Modbus TCP encoders do not support a daisy-chain configuration. Each device must be direclty connected to the master/scanner device or to a switch or hub.


For more details on Modbus TCP, consult the Modbus Organization:

www.modbus.org

Number of Nodes 1 Units


330 [100]

ft [m]


Setting Station/Node, Baud Rate

The default hardware address is 10.10.10.10.

NOTE: Rotating switches have NO EFFECT on MODBUS/TCP address. Unlike other Avtron encoders, you cannot change this hardware address using the switches inside the cap.

Instead, to assign any other address, you must use software.To set the node number via software, remove the connection cap from the back of the encoder. Flip dip switch 2 to “Off”, reassemble the encoder.

Setting IP Address via utility software:Begin with a factory-default encoder at 10.10.10.10 address with dip switch 2 set to “on” in the connection cap.Make a physical Ethernet connection between a PC and the encoder. Run the utility Mon10.bat (available as zipped folder from www.avtronencoders.com). This will establish a connection to the encoder and allow assignment of the IP address through the hymon.exe software, also included in the zipped folder.Type the command (all lower case)set ip xxx.xxx.xxx.xxx (where xxx is the desired IP address)The encoder will respond “Flash memory update successful”After assigning the IP address, remove power, then remove the connection cap. Set dip switch 2 to “off”, which cycle power to the encoder. The encoder will now respond to the new IP address. (Verify using ping xxx.xxx.xxx.xxx where xxx represents the new ip address from PC)

Ethernet baud rate is auto-detected by the encoder, no settings are required. 100mBit and 10mBit are supported, Gigabit Ethernet is not supported at the encoder level but may be utilized at the switch backbone level.

Measuring Position, Speed, and AccelerationTo read position into your device (acceleration and speed measurement is not supported.):

For multiturn & single turn encoders: position data provided as 4 bytes, 32 bits: Format is little-endian (lowest bit = right-most

bit). Single-turn data/data within 1 turn is provided in the least-significant bits. Multiturn data is provided in adjacent 32-bit words. Example: 12 turns x 13 bits/turn encoder, lowest 13 bits = position within one turn, next 19 bits are unused. Next 12 bits represent turns position data, next 24 bits are unused.

Note velocity output is not accurate during command execution such as setting (zero) position.

Start Address 0000

Register Data Type Position

0 Position Bit 17-32

1 Position Bit 1-16

2 Velocity Bit 17-32

3 Velocity Bit 1-16

4-7 Time Stamp

14 Preset Bit 17-32

15 Preset Bit 1-16

16 Offset Bit 17-32

17 Offset Bit 1-16

The position data is provided at parameter 0x6004.

Setting (Zero) Position for Multiturn Encoders and Single turn Encoders:Start Address 0000, Register 14-15 Preset object which will load a preset value into the encoder. However, if the machine is not at the home/preset position at set position command, the system will nonetheless load the Preset Value into the encoder. This can cause a position error.

Setting Direction of Rotation for Count Up/Down:Start Address 0000, Register 18, least significant bit (0) can be set to change operation: bit 0 = 0, Counterclockwise rotation = count upbit 0 = 1, Clockwise rotation = count up(rotation as viewed from the back of the encoder)

Scaling Counts:To use scaling, set bit 2 in object 0x6000 = 1, default value = 00x6001 supports scaling of user units per revolution, default value 0x20000x6002 enables setting of the total measuring range in user units default value 0x1000

Multiplexed ModeMultiplexed mode is supported by Avtron encoders. Multiplexing slows the data feed from each encoder to enable other data to pass more quickly to the master/scanner module.

For maximum encoder updates per second in mission critical applications, turn Multiplexed mode off using the master/scanner configuration software.

Other Parameters


MODBUS TCP TROUBLESHOOTINGViewing on oscilliscope: for Modbus TCP/Ethernet, the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

A simple one-to-one connection can be made to an ordinary PC. Set

AV6A 13

the dip switch 2 in the connection cap to “On” to force a hardware address of 10.10.10.10. Reassemble the encoder. Connect the PC to the encoder using standard (not cross-patch) cable. Power the encoder using the second connection port (5-pin). The encoder Link 1 should illuminate green. Use the Ping command, Run “ping 10.10.10.10”, and the encoder should reply, and the communication “ping” time will be reported by the PC. The Rx1 should flash briefly during the communication.

Check that only one Modbus TCP encoder is connected to each cable. Use hubs or switches to connect multiple Modbus TCP encoders to the master device.

A software “snoop” or “sniffer” program can also be used to packet-analyze the communication.

If the position is changing as the encoder moves, but is reported incorrectly, the Initial Value parameter may have been loaded into the encoder at the wrong physical position of the machine. Drive the machine to the home/preset position, and cycle power to see if the position is correctly reloaded.

MODBUS/TCP Diagnostic LEDs

LED Status Meaning

Link 1 Green Input connected to Ethernet, power OK, node address ok, no Ethernet errors, encoder operational

Rx1 Flashing Yellow


Col1 Red Ethernet Collision Errors

AV6A 14

Profinet IO “N”

Profinet IO is typically a master/slave network-the master/scanner device gathers data from each (slave) device on the bus. Avtron encoders are Profinet IO slave devices. Profinet IO commands include a subset of Profidrive commands-these commands are also supported by Avtron encoders. Avtron encoders support RT (real time) and IRT (isochronous real time) functions.

Profinet IO may be wired in several different configurations, but the best known is a “star” configuration where each device has a “home-run” network cable that connects to a central switch or hub.

To reduce the cabling requirements, Avtron encoders support “daisy-chain” configurations. The master device must be at one end of the bus or connected to a hub or switch. The input signal from the master or switch is repeated by each encoder to its output port (labelled “Port 2”), which can in turn be connected to an input Port 1 of another encoder. No external or switched termination resistors are required for Profinet IO. Power is carried to the device via a separate set of wires. A maximum of (7) encoders can be daisy-chained together to a single EtherNet/IP master/scanner or switch port.


For more details on Profinet, consult the Profibus Users Association (PI):

http://www.profibus.com/



330 [100]

ft [m]


Setting Station/Node, Baud Rate, Duplex

NOTE: There is no hardware method to set the Station/Node number (IP address) for Avtron EtherNet/IP address.

Setting IP Address via STEP7 (Siemens) software:Begin with a factory-default encoder. Make a physical Ethernet connection between a PC and the encoder. Run the STEP7 software. Under menu item PLC->Ethernet->Edit Ethernet Mode->Browse. STEP7 will produce a list of all encoders via MAC-address. Optional: use the flash LED button to cause the LED to flash to verify communication with the encoder. Select menu item Use IP Parameters, enter the IP address then->Assign IP Configuration. Enter the device name. Any IP address from 0.0.0.0 to 223.255.255.255 (excluding 127.x.x.x) is permitted.Cycle power.

The encoder should now operate at the assigned IP address, which can be validated using the ping command from the PC. The assigned name can be used throughout STEP7 software to address the encoder.

Note that if more than one encoder is to be used on the same Profinet IO network, each encoder must be assigned a unique name, and individual encoders must be connected one-by-one to assign names using STEP7 software during setup.

Ethernet baud rate and duplex are auto-detected by the encoder, no settings are required. 100mBit and 10mBit are supported, Gigabit Ethernet is not supported at the encoder level but may be utilized at the switch backbone level. Consult Nidec Avtron if manual forcing of duplex is required.


Avtron encoders support three modes of operation:StandardProfile (Profidrive) 4.0 (supports DP-V2 commands)Profile (Profidrive) 4.1 (supports DP-V2 commands)Profile 4.0 and 4.1 require a special GSDML file, contact factory.

To read position and speed into your device (acceleration measurement is not supported directly):

Following the instructions for your master/scanner module for the Profinet IO network, load the encoder GSDML file into your configuration. Assign it to the correct IP address node number. Store the configuration to the scanner module.

All of the position data and other parameters will be read by the scanner module and placed in registers identified in the configuration package.

Cyclic Data

ID (dec) Function Type Notes

3 Master heartbeat

UINT

4 Slave heartbeat

UINT

6 Velocity INT

8 Velocity DINT

9 Ctl Word UINT bit 11=preset/zerobit 12=capture positionbit 13=enable cyclic xmitbit 14=disable error xmitbit 15=clear errors

10 Status UINT Bit 12=ack capture positionBit 13=ack cyclic xmit reqBit 14=ack disable errorBit 15=encoder error

11 Position 1* DINT

12 Position 2* DINT If encoder error (bit 15, ID10), error message output to Position 2 instead of position.

39 Position 3 DINTx2 right-aligned

19 Vel. Update EUINT 0=1sec, 1=0.1s, 2=0.01s, 3=RPM

29 Status BYTE

2A Units per span

UDINT read only, set w/0x10

2B # Spans UINT # revolutions

33 Offset DINT Position+offset

64 Device Type DINT 0x22 = Encoder

65 Rollover DINT 0=off, 1=on, 2=auto

66 Vel’cty Filter DINT 0=low pass, 1=mid, 2=off

* Depending on the mode of operation selected, the position data is aligned differently, but always presented little-Endian (right most bit is least significant):

Standard Profile: data is right-justified: Single-turn data/data within

AV6A 15

1 turn is provided in the least-significant bits. Multiturn data is provided directly “above” the single turn data, bitwise. Example: 12 bit turns x 12 bits/turn encoder, lowest 12 bits = position within one turn, next 12 bits (up to bit 24) represent turns position data, most significant 8 bits unused.

Profile 4.0: data is left-justified within Position 1 register: Multi-turn data is provided in the most-significant bits. Singleturn/data within one turn is provided directly “below” the multiturn data, bitwise. Example: 12 bit turns x 12 bits/turn encoder, lowest 8 bits unused, next 12 bits (up to bit 20) = position within one turn, next 12 bits (up to bit 32) represent turns position data.

Profile 4.1: data is right-justified: Single-turn data/data within 1 turn is provided in the least-significant bits. Multiturn data is provided directly “above” the single turn data, bitwise and fills entire remaining number of bits. Example: 12 bit turns x 12 bits/turn encoder, lowest 12 bits = position within one turn, next 20 bits represent turns position data.

Setting (Zero) Position for Multiturn Encoders and Single turn Encoders:This can be done manually via the master/scanner software, or via programmed code in the master device: Use manufacturer-specific telegram 860: (all data little-Endian) Data from encoder: 32 bits UDINT, Position, 32 bits UDINT VelocityData to encoder: 32 bits: bit 32 = 1, set preset/zero position, bits 1-31 = preset value.

Alternatively, set bit 11 of Control Word (ID=9) = 1.

Setting Direction of Rotation for Count Up/Down:Parameter Code Sequence (from the GSDML file) contains a Direction Counting Toggle for the count direction. Use the Online Parameters tab to change the value. Note that this is REVERSED from standard Avtron nomenclature--the encoder is viewed from the front.

Setting Polling, Cyclic, Sync, and Implicit Messaging ModePolling, cycling, sync, and implicit messaging modes are supported by the encoder; use the parameters supplied in the GSDML file to set the appropriate mode. Store the resulting configuration into the scanner module.

Storing/Saving Encoder Parameters to EEPROMTo store the current encoder operating parameters into non-volatile memory:

Other Parameters


PROFINET IO/ PROFIDRIVE TROUBLESHOOTINGViewing on oscilliscope: for Profinet IO/Profibus IRT the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

A simple one-to-one connection can be made to an ordinary PC. Connect the PC to the encoder using standard (not cross-patch) cable. Power the encoder using the power connector. The encoder Link 1 should illuminate green. Use the Ping command, Run “ping xxx.xxx.xxx.xxx” where xxx represents the IP address that has been assigned to the encoder. The encoder should reply, and the communication “ping” time will be reported by the PC. The Active 1 LED should flash briefly during the communication.


If the position is changing as the encoder moves, but is reported

incorrectly, the Preset parameter may have been loaded into the encoder at the wrong physical position of the machine. Drive the machine to the home/preset position, and cycle power to see if the position is correctly reloaded.

Profinet IO Diagnostic LEDs

LED Status Meaning

Stat 1Stat 2Link 1

GreenOff Green

Input connected to Ethernet, power OK, node address ok, no Ethernet errors, encoder operational, Profinet IO connection established

Link 2 Green Output connected to next encoder Stat 2 Flashing

RedIP address established, but no Profinet IO connection established

Active 1 Flashing Yellow




AV6A 16

Profibus DP Protocol “P”

Profibus DP is typically a master-slave network-the master/scanner device gathers data from each (slave) device on the bus. Avtron encoders are Profibus DP slave devices.

Profibus may be wired in several different configurations, but the most common is a “Daisy-Chain” configuration. The master/scanner device may be located at any point along the bus. The cable must be terminated at each end with 150 ohm resistors. These resistors can be present in the D-sub cable connectors, in the master controller, and in the encoder, but only one at each end of the bus, two total should be connected/enabled. Note that Profibus DP also offers the option to carry device power to each encoder through an additional cable pair of wires.

Preferred cable: Nidec Avtron recommends structured Profibus DP wiring systems, available from a broad range of vendors.

For more details on Profibus, consult the Profibus Users Association (PI):

http://www.profibus.com/

Number of Nodes

2 16 32 64 Units


750[229]

690[210]

640[190]

560[170]

ft [m]

Network Baud Rate

12M 6M 3M

1.5M 500K 187.5K 93.75K 45.45K 19.2K 9.6K

Units

Max. Length*

325[100]

650[200]

1300[400]

3250[1000]

4000 [1200]

ft [m]

*Using Profibus standard cable, 150 ohm impedance 3-20mHz,

<30pf/m, <110 ohms/km loop resistance

Setting Station/Node, Baud Rate & Termination Resistor

To set the node number: use the rotating switches in the connection cap. The format is decimal, from 0-99 (ten’s switch and one’s switch). Software/master address changes are not supported. NOTE: Each device must have a unique node address, and this address must be different than the master/scanner module.

Profibus DP baud rate is auto-detected by the encoder, no settings are required. 12 MBaud, 6 MBaud, 3 MBaud, 1.5 MBaud, 500 kBaud, 187.5 kBaud, 93.75 kBaud, 45.45 kBaud, 19.2 kBaud, 9.6 kBaud are all supported.

To enable the termination resistor: Move the switch “R” to the “On” Position on the connection board. The termination resistor should be turned on/enabled when the encoder is the last/only device on the bus. Note that standard 9 pin DIN connectors used for Profibus DP also offer a termination resistor. Be sure NOT to enable both the encoder termination resistor and the 9-pin connector resistor, use one or the other for an encoder at the end of a bus.


To read position and speed feedback into your device (Acceleration measurement is not supported directly): Following the instructions for your master/scanner module for the Profibus DP network, load the encoder GSD file into your configuration. Assign it to the correct node number. Store the configuration to the scanner module. All of the position data and other parameters will be read by the scanner module and placed in registers identified in the configuration package.

Profibus DP Diagnostic LEDs

LED Status Meaning

STATUSERROR

GreenOff

Power Ok, Status OK

STATUSERROR

GreenRed

No Configuration Data Received

STATUSERROR

GreenFlashing Red

Encoder Bus Address Set Incorrectly

STATUSERROR

Flashing GreenRed

Parameters Received With Incorrect Length

STATUSERROR

Flashing GreenOff

Commissioning Mode Active

STATUSERROR

OffRed

No Data Received, Bus Inactive

STATUSERROR

OffOff

No Power

For multiturn & single turn encoders: position data provided as 4 bytes, 32 bits: Format is little-endian (lowest bit = right-most bit). Single-turn data/data within 1 turn is provided in the least-significant bits. Multiturn data is provided directly “above” the single turn data, bitwise. Example: 12 turns x 13 bits/turn encoder, lowest 13 bits = position within one turn, next 12 bits (up to bit 25) represent turns position data.

Setting Zero Position for Multiturn Encoders and Single turn Encoders Using 32 Bit Feedback:Write 1 to the highest bit (31)-write 128 (80H) to top-most-byte of the position register.

For single turn encoders: position data can instead be provided as 2 bytes, 16 bits: Format is little-endian (lowest bit = right-most bit).

Setting Zero Position for Single turn Encoders Using 16 Bit Feedback :Write 1 to the highest bit (15)-write 128 (80H) to top-most-byte of the position register.

Isochronous (Auto-Transmit) ModeDPV2 Isochronous communication can be configured using the optional DPV2 GSD file. Load the encoder GSD file into your master/scanner software. Assign it to the correct node number. Store the resulting configuration into the scanner module. Note many Profibus master devices do not support isochronous mode-check the master device manual before utilizing this encoder mode and GSD file.

Other Parameters


PROFIBUS-DP TROUBLESHOOTINGViewing on oscilliscope: for Profibus DP, the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

For Profibus DP, ensure termination resistors are in place (or switched on) at each end of the cabling system, and that no termination resistors are in placed or activated in the middle of the system. Remove the connections to the master controller and all devices, or power down all devices. Measure the resistance between the communication wires. The value should be ~1/2 of the termination resistor value on the network (typically = 75 ohm measurement). If the resistance is greater than the limit, a termination resistor is missing from the network. If the resistance is less than the limit, there are incorrect termination resistors switched on or connected to the system.

AV6A 17

EtherNet/IP “R”

EtherNet/IP is typically a producer/consumer network-the master/scanner device gathers data from each (slave) device on the bus. Avtron encoders are Ethernet/IP slave devices. Unlike simple master/slave systems, however, EtherNet/IP permits multiple devices to Listen Only or use Input Only to receive the encoder position directly.

EtherNet/IP may be wired in several different configurations, but the best known is a “star” configuration where each device has a “home-run” network cable that connects to a central switch or hub.

To reduce the cabling requirements, Avtron encoders support “Daisy-Chain” configurations. The master device must be at one end of the bus. The signal is repeated by each encoder to its output port (labelled “Port 2”), which can in turn be connected to an input Port 1 of another encoder. No external or switched termination resistors are required for EtherNet/IP. Power is carried to the device via a separate set of wires. A maximum of (7) encoders can be daisy-chained together to a single EtherNet/IP master/scanner or switch port.


For more details on EtherNet/IP, consult the Open DeviceNet Vendor’s Association (ODVA):www.odva.org



330 [100]

ft [m]


Setting Station/Node, Baud Rate, Duplex

NOTE: There is no hardware method to set the Station/Node number (IP address) for Avtron EtherNet/IP address.

Setting IP Address via BOOTP software:Begin with a factory-default encoder. Make a physical Ethernet connection between a PC and the encoder. Run the utility BOOTP/DCHP Server. BOOTP will produce a list of all encoders via MAC-address. Use BOOTP to assign the IP address, subnet mask, etc. Any IP address from 0.0.0.0 to 223.255.255.255 (excluding 127.x.x.x) is permitted.Disable the BOOTP and DHCP mode in the encoder using BOOTP.Cycle power.The encoder should now operate at the assigned IP address, which can be validated using the ping command from the PC.

Ethernet baud rate and duplex are auto-detected by the encoder, no settings are required. 100mBit and 10mBit are supported, Gigabit Ethernet is not supported at the encoder level but may be utilized at the switch backbone level. Consult Nidec Avtron if manual forcing of duplex is required.


To read position and speed into your device (acceleration measurement is not supported):

Following the instructions for your master/scanner module for the EtherNet/IP network, load the encoder EDS file into your configuration. Assign it to the correct IP address node number. Store the configuration to the scanner module.

All of the position data and other parameters will be read by

the scanner module and placed in registers identified in the configuration package.

Class Code 0x23 Position Sensor Objects

ID (hex) R/W Function Type Notes

01 R # Attributes UINT

02 R Attrib.List UINT Array

0A R Position DINT

0B R Sensor Type UNIT

0E W Scaling BOOL Scaling on/off

10 W Units per span

UDINT Units per revolution

11 W Total span UDINT Total units

13 W Preset DINT Set position

18 R Velocity DINT

19 W Vel. Format EUINT

29 R Status BYTE

2A R Units per span

UDINT read only, set w/0x10

2B R # Spans UINT # revolutions

33 R Offset DINT Position+offset

64 W Device Type DINT 0x22 = Encoder

65 W Rollover DINT 0=off, 1=on, 2=auto

66 W Vel’cty Filter DINT 0=low pass, 1=mid, 2=off

Setting (Zero) Position for Multiturn Encoders and Single turn Encoders:This can be done manually via the master/scanner software, or via programmed code in the master device: Write to the Preset: Class 0x23, Instance 0x01, Attribute 0x13. The Preset register can be forced to any valid value using the Online Parameters tab for the device from the configuration software. The units for the preset are steps (counts per revolution x revolutions + counts in the final turn). Note: if the machine is not at the home/preset physical position during set position command, this can cause a position error.

Setting Direction of Rotation for Count Up/Down:Parameter 0 (from the EDS file) contains a Direction Counting Toggle for the count direction. Use the Online Parameters tab to change the value. Note that this is REVERSED from standard Avtron nomenclature--the encoder is viewed from the front.

Setting Polling, Cyclic, Sync, and Implicit Messaging ModePolling, cycling, sync, and implicit messaging modes are supported by the encoder; use the parameters supplied in the EDS file to set the appropriate mode. Class 0 and Class 1 implicit messaging is supported. Store the resulting configuration into the scanner module.

Storing/Saving Encoder Parameters to EEPROMTo store the current encoder operating parameters into non-volatile memory:

Send explicit message CIP service 0x16 (Save). A new allocation is then required to resume receiving position values from the encoder and a power cycle is recommended.

AV6A 18

Other Parameters


ETHERNET/IP TROUBLESHOOTINGViewing on oscilliscope: for EtherNet/IP the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies. Transmission rates vary, but these messages can be extremely short and typically require scope triggering to spot them.

A simple one-to-one connection can be made to an ordinary PC. Connect the PC to the encoder using standard (not cross-patch) cable. Power the encoder using the power connector. The encoder Link 1 should illuminate green. Use the Ping command, Run “ping xxx.xxx.xxx.xxx” where xxx represents the IP address that has been assigned to thee encoder. The encoder should reply, and the communication “ping” time will be reported by the PC. The Active 1 LED should flash briefly during the communication.


If the position is changing as the encoder moves, but is reported incorrectly, the Preset parameter may have been loaded into the encoder at the wrong physical position of the machine. Drive the machine to the home/preset position, and cycle power to see if the position is correctly reloaded.

EtherNet/IP Diagnostic LEDs

LED Status Meaning

Stat 1Stat 2Link 1

GreenGreen Green

Input connected to Ethernet, power OK, node address ok, no Ethernet errors, encoder operational, EtherNet/IP connection established

Link 2 Green Output connected to next encoder Stat 1 Flashing

Green 1HzEncoder in standby, not configured

Flashing Green 4Hz

Encoder IP address not set

Flashing Red

Configuration error

Red Major internal fault

Alternating Red/Green

Power-up testing

Stat 2 Flashing Green

IP address established, but no EtherNet/IP connection established

Flashing Yellow

Connection (message) timeout

Yellow Duplicate IP address on bus

Alternating Red/Green

Power-up testing





AV6A 19

SSI Protocol “S”

The SSI Protocol “S” provides a clocked set of data bits that represent the encoder position (in turns and within 1 turn). Each bit is output by the encoder as the clock input transitions.

Preferred cable: Twisted pair with individual and overall shield grounded at one end only. 24 AWG, copper conductor, capacitance of 52.5 pF/meter (16 pF/foot) terminated in a 100 Ohm resistive load. Note that resistive losses in long cables may decrease actual voltage (+Vs) available at the encoder; larger conductors can be used or the encoder can be powered locally and signal GND brought through the cable. Maximum transmission speed is limited by cable length as shown in the figure below.

For more details on SSI, consult Wikipedia:

http://en.wikipedia.org/wiki/Synchronous_Serial_Interface

Set Zero(input, ACTIVE HIGH, Falling Edge, 10K resistance)

To set the encoder count value to zero, raise Set Zero> 10V, < Vs for more than 1 second. Upon the Set Zero signal returning to logic zero (falling edge), the encoder count value will be set to zero.

Set Direction (input, 10K resistance)

For input logic zero or no connection, the encoder will count UP for CCW rotation as viewed from the rear end of the encoder.

For input logic 1 (>10V, <Vs), the encoder will count DOWN for CCW rotation as viewed from the rear of the encoder.

SSI TROUBLESHOOTINGFor SSI, monitor the clock input line to ensure the controller is triggering the encoder to send position. The clock should obey the signal requirements shown in the SSI signal section, and should appear as a rapid set of transitions on the clock line. The encoder data transmit lines should change state as data is clocked out. Note that the varying binary patterns representating position can produce pulses of varying width--this is normal.

SSI Diagnostic LEDs

LED Status Meaning

PWR Green Power OK, Status OK

Off No Power or Preset Button Pressed

ALARM Off Status OK

Red Internal Fault(All output bits are set =1)

10K

10K

1K

100

10

1.2K

100K 1M 10M

DATA SIGNALING RATE - bit’s

Cable Lenght versus data signaling rate

CABL

E LE

NGTH

- M

ETER

S

AV6A 20

CONN

ECTO

R

OPTION“W”

(Cable)

OPTION“A”

(M12 / 5 pin)

OPTION“J”, “K”

(2x, 3x cable entry)

SIGN

AL

CAN_GND GREEN 1 Leftmost - G

V+ WHITE 2 +

CAN_H YELLOW 4 Leftmost - H

CAN_L PINK 5 Leftmost - L

GND/0V BROWN 3 -

NC PINK

NC BLUE

NC GRAY

CAN_H Rightmost - H

CAN_L Rightmost - L

CAN_GND Rightmost - G

Double-up +

Double-up -

REFSIGNAL

CAN_GND

V+

CAN_H

CAN_L

GND/0V

Optional Daisy-Chain

CAN_H

CAN_L

CAN_GND

V+

GND/0V

CANOpen Bus “C”

AV6A WIRING DIAGRAMS

* NOTE: CAN cable required with individual and overall shields. Obey pairing as shown.

Term Strip

SwitchesPinouts

Bus in Bus out

AV6A 21

CONN

ECTO

R

OPTION“W”

(Cable)

OPTION“A”

(M12 / 5 pin)

OPTION“J”, “K”

(2x, 3x cable entry)

SIGN

AL

NC

V+ RED 2 +

V-/GND BLACK 3 -

CAN_H WHITE 4 Leftmost - H

CAN_L BLUE 3 Leftmost - L

NC

NC

NC

CAN_H Rightmost - H

CAN_L Rightmost - L

Double-up -

Double-up +

REFSIGNAL

V+

V-/GND

CAN_H

CAN_L


CAN_H

CAN_L

GND

V+

DeviceNet Bus “D”


* NOTE: CAN cable required with individual and overall shields. Obey pairing as shown.

SwitchesPinouts

Term Strip

Bus in Bus out

AV6A 22

CONN

ECTO

R

OPTION“C”M12

PORT

SIGN

AL

PORT1 Tx+ 1

Tx- 3

Rx+ 2

Rx- 4

Power +Vs 1

COM 3

NC 2

NC 4

PORT2 Tx+ 1

Tx- 3

Rx+ 2

Rx- 4

REFSIGNAL

Rx+ **

Rx- **

Tx+ **

Tx- **

+V

COM


Rx+

Rx-

Tx+

Tx-

* NOTE: Twisted pair cable CAT6, CAT5E. Obey pairing as shown, optional overall shield may be used for high noise environments

** NOTE: For encoder switch connections use the “crossover” pinout shown for encoder-PC or encoder-PLC direct wiring use a “Straight through” connection (Tx+ Tx-, Rx+ Rx-, Rx- Rx-)

Communication Bus “K”, “N”, “R”: POWERLINK, Profinet IO, EtherNet/IP Pinout

Pinouts for Ethernet

Port 2Port 1 Power

Switches


Master/Scanneror Switch

Power Supply

AV6A 23


CONNECTOROPTION

“W”(Cable)

OPTION“G”

M27/26

SIGNAL

GND YELLOW-PINK 26

+Vs PINK-GREEN 25

DIRECTION YELLOW-GREY 24

LATCH GREY-GREEN 23

PRESET BROWN-BLACK 22

BIT 25 (MSB) WHITE-BLACK NC

BIT 24 BROWN-RED NC

BIT 23 WHITE-RED NC

BIT 22 BROWN-BLUE NC

BIT 21 WHITE-BLUE 21

BIT 20 PINK-BROWN 20

BIT 19 WHITE-PINK 19

BIT 18 GREY-BROWN 18

BIT 17 WHITE-GREY 17

BIT 16 YELLOW-BROWN 16

BIT 15 WHITE-YELLOW 15

BIT 14 BROWN-GREEN 14

BIT 13 WHITE-GREEN 13

BIT 12 BLUE-RED 12

BIT 11 GREY-PINK 11

BIT 10 VIOLET 10

BIT 9 BLACK 9

BIT 8 RED 8

BIT 7 BLUE 7

BIT 6 PINK 6

BIT 5 GREY 5

BIT 4 YELLOW 4

BIT 3 GREEN 3

BIT 2 BROWN 2

BIT 1 (LSB) WHITE 1

* NOTE: Cable with overall shield required

Communication Bus “P”: Parallel Pinout

REF SIGNAL

SIGNAL

GND

+Vs

DIRECTION

LATCH

PRESET

BIT 25 (MSB)

BIT 24

BIT 23

BIT 22

BIT 21

BIT 20

BIT 19

BIT 18

BIT 17

BIT 16

BIT 15

BIT 14

BIT 13

BIT 12

BIT 11

BIT 10

BIT 9

BIT 8

BIT 7

BIT 6

BIT 5

BIT 4

BIT 3

BIT 2

BIT 1 (LSB)

Parallel Pinout

AV6A 24

CONN

ECTO

R

OPTION“C”M12

PORT SI

GNAL

PORT1 Tx+ 1

Tx- 3

Rx+ 2

Rx- 4

Power +Vs 1,2

0V/GND 3,4

PE 5

REFSIGNAL

Rx+

Rx-

Tx+

Tx-

+V

COM

* NOTE: Twisted pair cable CAT6, CAT5E. Obey pairing as shown, optional overall shield may be used for high noise environments

Communication Bus “M”: Modbus TCP Pinout


Master/Scanneror Switch

Power Supply

** NOTE: For encoder switch connections use the “crossover” pinout shown for encoder-PC or encoder-PLC direct wiring use a “Straight through” connection (Tx+ Tx-, Rx+ Rx-, Rx- Rx-)

1

4

2

3

5

2

3

1

4

Pinouts for Ethernet

Port 1 Power

AV6A 25

CONNECTOROPTION

“C”M12x3

OPTION“K”

(3x cable)

SIGNAL CONNECTOR Pin Terminal Point

GND (0V)4 pin male

3 Any (-)

+Vs 1 Any (+)

Bus A in5 pin male

2 Leftmost A

Bus B in 4 Leftmost B

Bus A out**5 pin female

2 Rightmost A

Bus B out** 4 Rightmost B

REFSIGNAL

GND (OV)

+Vs

Bus A out

Bus B out

Bus A in

Bus B in

* NOTE: Profibus cabling required. Obey pairing as shown**If termination resistor “R” is enabled/”on”, bus out terminals are disabled

Communication Bus “P”: Profibus Pinout


Power Supply

Bus In Bus Out

Pinouts for Profibus

Power Bus out Bus in

AV6A 26

CONN

ECTO

R

OPTION“W”

(Cable)

OPTION“F”

M23/12

OPTION“E”

M12/8

SIGN

ALGND WHITE 12 1

+Vs BROWN 11 2

CLK+ GREEN 2 3

CLK- YELLOW 1 4

DAT+ GRAY 3 5

DAT- PINK 4 6

SET ZERO BLUE 9 7

SET DIRECTION RED 8 8

NC 5

NC 6

NC 7

NC 10

REFSIGNAL

GND

+Vs

CLK+

CLK-

DAT+

DAT-

SET ZERO

SET DIRECTION

NC

NC

NC

NC

* NOTE: Twisted pair cable required with overall shield; individual pair shielding recommended. Obey pairing as shown

Communication Bus “S”: SSI Pinout


Pinouts for SSI

Option “F” M23/12 Option “E” M12/8

AV6A 27

AV6A Flange Option “1” (Clamp), Profibus “P”, Connector M12 “K”, Radial exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A”

Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations.

Flange/Shaft Body/Connector

AV6A 28

AV6A Flange Option “2” (Servo), SSI “S”, Connector M12 “E”, Axial exit “E”, MultiturnIP65 Seals and Aluminum/Steel Enclosure “A”



AV6A 29

AV6A Flange Option “2” (Servo), Parallel “L”, Connector M27 “G”, End/Axial exit “E”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A”



AV6A 30

AV6A Flange Option “2” (Servo), All Ethernet types (“E”,”K”,”M”,”N”,”R”), Connector M12x3Side Exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A”



AV6A 31

AV6A Flange Option “2” (Servo), SSI “S”, Connector M12/8 “E”, Side exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A”



AV6A 32

REV: 01/15/198 9 0 1 E . P L E A S A N T VA L L E Y R O A D • I N D E P E N D E N C E , O H I O 4 4 1 3 1 - 5 5 0 8

TELEPHONE: ( 1 ) 2 1 6 - 6 4 2 - 1 2 3 0 • FAX : ( 1 ) 2 1 6 - 6 4 2 - 6 0 3 7E-MA IL : t a c h s @ n i d e c - a v t r o n . c o m • WEB: w w w. a v t r o n e n c o d e r s . c o m

Nidec-Avtron Makes the Most Reliable Encoders in the World

AV6A Flange Option “4” (2.5”/1.25” pilot), Devicenet “D”, Connector 2xM12/5 “B” Radial exit “A”, Multiturn , IP65 Seals & Aluminum/Steel Enclosure “A”

DIMENSIONS IN INCHES [MILLIMETERS]

ALL DIMENSIONS ARE APPROXIMATE

Features and specifications subject to change without notice. Avtron standard warranty applies. All dimensions are in millimeters approx.



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AV6A - Nidec-Avtron€¦ · Nidec-Avtron Makes the Most Reliable Encoders in the World Encoder Instructions MODEL AV6A SOLID SHAFT DESCRIPTION The Avtron Model AV6A is a light mill